EP0273052A1 - Anordnung zum nachweis des rotationsstandes des motorrotors - Google Patents

Anordnung zum nachweis des rotationsstandes des motorrotors Download PDF

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Publication number
EP0273052A1
EP0273052A1 EP87901683A EP87901683A EP0273052A1 EP 0273052 A1 EP0273052 A1 EP 0273052A1 EP 87901683 A EP87901683 A EP 87901683A EP 87901683 A EP87901683 A EP 87901683A EP 0273052 A1 EP0273052 A1 EP 0273052A1
Authority
EP
European Patent Office
Prior art keywords
motor
rotor
absolute
rotor shaft
position detector
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP87901683A
Other languages
English (en)
French (fr)
Other versions
EP0273052A4 (de
EP0273052B1 (de
Inventor
Tetsuro 1205-3-103 Shibokusa Oshino-Mura Sakano
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of EP0273052A1 publication Critical patent/EP0273052A1/de
Publication of EP0273052A4 publication Critical patent/EP0273052A4/de
Application granted granted Critical
Publication of EP0273052B1 publication Critical patent/EP0273052B1/de
Expired legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position

Definitions

  • the present invention relates to a detector for detecting the rotational position of a rotor of a motor, and more particularly to a rotational position detector capable of detecting the absolute rotational position of a rotor shaft of a motor, and at the same time detecting the magnetic pole position of the rotor for control of drive of the motor.
  • the magnetic pole position a predetermined magnetic pole of the rotor relative to the stator of the motor.
  • a detector is required, which is capable of detecting the magnetic pole position of the rotor to generate a signal representative of the detected magnetic pole position of the rotor.
  • the detection of magnetic pole position of the rotor has been carried out by:
  • the present invention comprises: an absolute type position detector coupled to a rotor shaft of a motor for detecting an absolute position of the rotor shaft in one revolution of the rotor shaft, and for outputting a coded signal indicative of the detected position; and a code converting means for converting the coded signal from the absolute type position detector into a coded rotor magnetic pole position signal for control of drive of the motor, and for outputting same.
  • the present invention comprises: a position detector coupled to a rotor shaft of a motor for outputting a coded signal representative of an absolute position of the rotor shaft in one revolution of the rotor shaft, and for sequentially outputting increment pulses with revolution of the rotor shaft; a code converting means for converting the coded signal from the position detector into a second coded signal representative of a rotor magnetic pole position for control of drive of the motor, and for outputting the second coded signal; and a counter arranged to be reset to a predetermined value every time the counter counts pulses which equal in number to the increment pulses generated during one cycle of the magnetic pole position detection.
  • the number of the increment pulses is determined in dependence on the number of the rotor poles of the motor.
  • an output from the code converting means is set in the counter as an initial value.
  • the counter is operable to count the incremental pulses from the position detector, to output the counted value as a third coded signal representative of a rotor magnetic pole position for control of drive of the motor.
  • the absolute position of the rotor shaft and the rotor synchronization data for motor drive control can be obtained only by a single position detector, and further, the detector of the present invention is adaptable to a variety of motors which are different in number of rotor poles from each other, by solely exchanging an electrical circuit such as the code converting means.
  • the absolute position of the rotor shaft required for motor direct drive system can be detected, and at the same time the rotor synchronization data for motor drive control can be obtained.
  • Fig. 1 shows a rotational position detector according to a first embodiment of the present invention.
  • Reference numeral 1 designates a conventionally known absolute type position detector which may be of any type such as an optical or magnetic type.
  • the absolute type position detector 1 comprises a detecting section 2 and a rotor shaft 3 which is secured to a rotor shaft (not shown) of an AC servo motor or a stepping motor.
  • the rotor shaft 3 has a code disk secured thereto on which absolute codes are formed.
  • the detector 1 is so arranged that the detecting section 2 optically or magnetically reads absolute codes formed on the code disk when the rotor shaft 3 of the detector 1 is rotated and consequently the code disk is rotated with rotation of the rotor shaft of a motor, not shown, and an absolute detecting circuit 4 which responds to the output from the detecting section 2 sequentially outputs data representative of a position of the rotor shaft of the motor, that is, absolute data a.
  • the detector 1 has a code converting means 5 which is supplied with the absolute data a outputted from the absolute detecting circuit 4.
  • the code converting means 5 is arranged to convert the absolute data a into a signal for motor driving control, that is, data b for synchronizing the rotor of the motor, as will be described later, and outputs the data b.
  • a driving current must be controlled corresponding to a relative position of the rotor magnetic pole and the stator winding, whereas the relative position of the magnetic pole and the winding is determined in accordance with the number of the rotor poles. Therefore, the code conversion from the absolute data a into the data b for rotor synchronization is carried out in consideration of the number of the rotor poles.
  • the code conversion there can be proposed a code-converting method using a logical circuit and a code-converting method using a read only memory (ROM).
  • ROM read only memory
  • the absolute type position detector 1 is used, which is arranged to output a code representative of the rotational position of the rotor shaft every 1/30 revolution of the rotor shaft of the motor, to obtain 30 absolute data, for example, coded data "0" to "29” per one revolution of the rotor shaft.
  • the rotor synchronization data b is generated at intervals of a period calculated by multiplying the rotational period of the rotor shaft with 1/(number of pole pairs). For example, if the number of rotor poles of the motor is assumed to be six, the rotor synchronization data b for three cycles are generated per one revolution of the rotor shaft. As described above, since 30 absolute data a are generated per one revolution of the rotor shaft, ten data a are generated in one motor control cycle corresponding to 1/3 revolution of the rotor shaft. Then, the data a are converted into coded data, respectively, as will be hereinafter referred to, by which obtained are ten data b respectively coded by "0" to "9” and indicating the rotor pole position in each motor control cycle.
  • the absolute data that is, the address of the ROM corresponding to the rotational position of the rotor shaft 3 is selected, and, one of the rotor synchronization codes consisting of "0" to "9” is read out from the address and outputted as a signal for driving the motor.
  • the absolute data from the detecting circuit 4 is provided for control other than the motor driving control.
  • the ROM is used as the code converting means 5.
  • the code converting means 5 is formed of a logical circuit or an arithmetic circuit, the same code conversion as described above can be applied.
  • the absolute position of the rotor shaft of the motor can be detected by the absolute data a, and the data b for rotor synchronization can be obtained by the code converting circuit 5.
  • Fig. 2 shows a second embodiment of the present invention, wherein, as distinct from the first embodiment, a position detector 6 including an incremental detecting circuit 7 for detecting a travelling amount of the rotor shaft of the motor is used in place of the position detector 1 so as to enable outputting an incremental detecting pulse C and obtaining highly reliable data for synchronizing the rotor by the use of the detecting pulse.
  • a position detector 6 including an incremental detecting circuit 7 for detecting a travelling amount of the rotor shaft of the motor is used in place of the position detector 1 so as to enable outputting an incremental detecting pulse C and obtaining highly reliable data for synchronizing the rotor by the use of the detecting pulse.
  • the same elements as those employed in the first embodiment are designated by the same reference numerals and the explanation thereof will be partly omitted.
  • the position detector 6 in Fig. 2 is provided with the incremental detecting circuit 7, in addition to the elements 2 to 4.
  • the incremental detecting circuit 7 is so arranged as to sequentially output the detecting pulses C with revolution of the rotor shaft in response to the least significant two bits of the output from the detecting section 2.
  • a gate circuit 8 and a counter 9 are connected in the rear stage of the code converting circuit 5.
  • the gate circuit 8 is arranged such that it is opened or enabled upon supply of a set instruction d outputted from an NC apparatus or the like for controlling motors or the like when the electric power supply is turned on to be applied to the whole system.
  • the counter 9 is arranged to be initialized to the rotor synchronization data b from the code converting means 5, as an initial value, at the time the set instruction d is generated. Also, the counter 9 is arranged to sequentially count the detecting pulse C from the incremental detecting circuit 7 and outputs the counted value.
  • the counter 9 is arranged such that when the counted value reaches a value calculated by dividing a total number of the pulses C generated during one revolution of the rotor shaft 3, that is, a total number of the detecting pulses C generated during one absolute detecting cycle, by the number of pole pairs of the motor, in other words, when the counted value reaches a value equal to a total number of the pulses C generated in one cycle of the magnetic pole position detection, it is set to a predetermined value "O", for instance, and thereafter resumes the counting operation.
  • a total number of the pulses C generated for one revolution of the rotor is calculated to be 30. Since 1/3 revolution of the rotor corresponds to one cycle of the magnetic pole position detection, the counter 9 may be such a decimal counter that counts from “0" to “9” and is reset the counted value to "0" when it reaches "9” and the next detecting pulse C is generated.
  • the couter 9 may be such one that counts 500 (2000/4) times and is reset to "0" when the counted value reaches "499" and the next detecting pulse C is generated.
  • an output representative of an absolute position of the rotor shaft 3 from the absolute detecting circuit 4 arranged in the position detector 6 is converted by the code converting means 5 into an absolute position in one cycle of the magnetic pole position detection, that is, data representative of a magnetic pole position, which in turn is set in the couter 9 as an initial value through the gate circuit 8.
  • the detecting pulse C sequentially outputted from the incremental detecting circuit 7 with rotation of the motor is inputted and counted by the couter 9, so that the counted value which indicates a magnetic pole position is outputted from the counter 9 as rotor synchronization data.
  • the absolute data a is outputted from the absolute detecting circuit 4, so that an absolute position of the rotor shaft 3 can be also detected by the absolute data a.
  • the detecting pulse C from the incremental detecting circuit 7 can be also used as an incremental signal indicating a travelling amount of the rotor shaft.
  • the embodiment shown in Fig. 2 is so arranged that the magnetic pole position at the time the power suply is turned on is set in the counter 9 and thereafter the counter 9 counts the detecting pulse C to obtain the rotor synchronization data b, so that even when a detecting error is produced in the absolute detecting cirucit 4 due to high speed revolution of the motor, an error will never be . produced in the rotor synchronization data b, rendering it possible to obtain exact data b for the rotor synchronization.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Stepping Motors (AREA)
EP87901683A 1986-03-14 1987-03-14 Anordnung zum nachweis des rotationsstandes des motorrotors Expired EP0273052B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP55059/86 1986-03-14
JP61055059A JP2568068B2 (ja) 1986-03-14 1986-03-14 モ−タのロ−タ回転位置検出器

Publications (3)

Publication Number Publication Date
EP0273052A1 true EP0273052A1 (de) 1988-07-06
EP0273052A4 EP0273052A4 (de) 1989-02-13
EP0273052B1 EP0273052B1 (de) 1992-10-14

Family

ID=12988107

Family Applications (1)

Application Number Title Priority Date Filing Date
EP87901683A Expired EP0273052B1 (de) 1986-03-14 1987-03-14 Anordnung zum nachweis des rotationsstandes des motorrotors

Country Status (5)

Country Link
US (1) US4827203A (de)
EP (1) EP0273052B1 (de)
JP (1) JP2568068B2 (de)
DE (1) DE3782231T2 (de)
WO (1) WO1987005755A1 (de)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9417591U1 (de) * 1994-11-03 1994-12-15 Roland Man Druckmasch Positionierantrieb innerhalb einer Druckmaschine
EP0756373A1 (de) * 1995-07-25 1997-01-29 Switched Reluctance Drives Limited Regelung einer geschalteten Reluktanzmaschine
FR2959625A1 (fr) * 2010-05-03 2011-11-04 Bosch Gmbh Robert Procede et dispositif de commande d'une machine electrique excitee par un aimant permanent

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01116409A (ja) * 1987-10-29 1989-05-09 Fanuc Ltd アブソリュート・ロータリ・エンコーダ
JP2525849B2 (ja) * 1988-02-24 1996-08-21 ファナック株式会社 原点復帰方法
JPH0210796U (de) * 1988-06-28 1990-01-23
WO1991008085A1 (de) * 1988-11-04 1991-06-13 Kuka Schweissanlagen + Roboter Gmbh Verfahren und vorrichtung zum justieren einer achse
US5093610A (en) * 1990-02-12 1992-03-03 Abb Robotics Inc. Apparatus for absolute position measurement
US4994827A (en) * 1990-06-04 1991-02-19 Eastman Kodak Company Multicolor imaging method and apparatus
JPH04294406A (ja) * 1991-03-22 1992-10-19 Kobe Steel Ltd ロボットの回転位置検出装置
JP3234177B2 (ja) * 1997-07-01 2001-12-04 ファナック株式会社 位置制御装置
US6305234B1 (en) 2000-01-27 2001-10-23 Edward L. Thies Absolute encoder
US6750626B2 (en) * 2002-09-11 2004-06-15 Ford Global Technologies, Llc Diagnostic strategy for an electric motor using sensorless control and a position sensor
US11662230B2 (en) 2020-05-04 2023-05-30 Saudi Arabian Oil Company Recorder for shaft rotation verification

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0105033A1 (de) * 1982-09-22 1984-04-04 Claude Gillièron Regeleinrichtung für einen Gleichstrommotor

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0632582B2 (ja) * 1982-07-15 1994-04-27 株式会社三協精機製作所 直流ブラシレス電動機
JPS59138377U (ja) * 1983-03-02 1984-09-14 高橋　義照 アプソリユ−トエンコ−ダを有するデイスク型半導体モ−タ

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0105033A1 (de) * 1982-09-22 1984-04-04 Claude Gillièron Regeleinrichtung für einen Gleichstrommotor

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO8705755A1 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9417591U1 (de) * 1994-11-03 1994-12-15 Roland Man Druckmasch Positionierantrieb innerhalb einer Druckmaschine
EP0756373A1 (de) * 1995-07-25 1997-01-29 Switched Reluctance Drives Limited Regelung einer geschalteten Reluktanzmaschine
FR2959625A1 (fr) * 2010-05-03 2011-11-04 Bosch Gmbh Robert Procede et dispositif de commande d'une machine electrique excitee par un aimant permanent

Also Published As

Publication number Publication date
DE3782231T2 (de) 1993-02-25
EP0273052A4 (de) 1989-02-13
JP2568068B2 (ja) 1996-12-25
WO1987005755A1 (en) 1987-09-24
DE3782231D1 (de) 1992-11-19
EP0273052B1 (de) 1992-10-14
JPS62213537A (ja) 1987-09-19
US4827203A (en) 1989-05-02

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